Sonar simulator-based underwater object recognition and its tolerance evaluation

The sonar images can be applied for underwater visual inspection using autonomous underwater vehicle (AUV) that requires underwater object recognition. However, the high noise and low resolution of sonar images are obstacles of object recognition. In this paper, we review a sonar image simulator-based underwater object recognition algorithm for forward-looking imaging sonar. Then, we verify the feasibility of the algorithm for AUV applications through evaluating its tolerance against AUV position error.